Method for capturing image, method for processing image, image capturing system, and information processing system

Abstract

A method for capturing a subject, using an image capturing device mounted on a mobile apparatus. The image capturing device divides a target area of the subject into a plurality of image capturing areas in a moving direction of the mobile apparatus, and captures the plurality of image capturing areas, while moving with the mobile apparatus. The method includes: setting, as a focusing condition for the image capturing device, a focus distance that is commonly used to capture the plurality of image capturing areas in the target area, such that the plurality of image capturing areas are within depth of field; and capturing, with the image capturing device, the plurality of image capturing areas at the focus distance that is set as the focusing condition.

The invention claimed is: 
     
         1 . A method for capturing an image of a sloped subject, using an image capturing device mounted on a mobile apparatus, the image capturing device, including an imaging lens and an imaging sensor, configured to divide a target area of the sloped subject into a plurality of image capturing areas in a moving direction of the mobile apparatus, and to capture the plurality of image capturing areas while moving with the mobile apparatus,
 the method comprising:   acquiring distance information indicating a distance from a reference position in the mobile apparatus to the sloped subject in a direction perpendicular to the moving direction of the mobile apparatus;   setting, as a focusing condition for the image capturing device, a focus distance that is commonly used to capture the plurality of image capturing areas in the target area, such that the plurality of image capturing areas are within depth of field based on the distance information; and   capturing, with the image capturing device, the plurality of image capturing areas in the target area at the focus distance that is set as the focusing condition, wherein   the focusing condition includes a tilt angle that is commonly used to capture the plurality of image capturing areas such that the plurality of image capturing areas in the target area are within the depth of field based on the distance information, the tilt angle representing an angle between a perpendicular line perpendicular to a sensor surface of the imaging sensor and a central axis of the imaging lens.   
     
     
         2 . The method of  claim 1 , wherein
 the target area includes a first target area and a second target area, located at different distances in the direction orthogonal to the moving direction of the mobile apparatus,   the image capturing device includes a first image capturing device that captures the first target area, and a second image capturing device that captures the second target area,   the setting includes:   setting, as a first focusing condition for the first image capturing device, a focus distance commonly used for capturing a plurality of image capturing areas in the first target area, such that the plurality of image capturing areas in the first target area are within the depth of field; and   setting, as a second focusing condition for the second image capturing device, a focus distance commonly used for capturing a plurality of image capturing areas in the second target area, such that the plurality of image capturing areas in the second target area are within the depth of field, and   the capturing includes:   capturing, with the first image capturing device, the plurality of image capturing areas in the first target area at the focus distance that is set as the first focusing condition; and   capturing, with the second image capturing device, the plurality of image capturing areas in the second target area at the focus distance that is set as the second focusing condition.   
     
     
         3 . The method of  claim 2 , wherein
 the first target area and the second target area respectively have ranges, such that   the plurality of image capturing areas in the first target area are within the depth of field, when captured at the focus distance that is set as the first focusing condition, and   the plurality of image capturing areas in the second target area are within the dept of field, when captured at the focus distance that is set as the second focusing condition.   
     
     
         4 . The method of  claim 1 , wherein
 when the plurality of image capturing areas in the target area includes a first group of image capturing areas within the depth of field, and a second group of image capturing areas not within the depth of field, when the plurality of image capturing areas in the target area is captured at a focus distance commonly used to capture the first group of image capturing areas and the second group image capturing areas,   the setting includes:   setting, as a first focusing condition for the image capturing device, a focus distance that is commonly used for capturing the first group of image capturing areas in the target area, such that the first group of image capturing areas in the target area are within the depth of field; and   setting, as a second focusing condition for the image capturing device, a focus distance commonly used for capturing the second group of image capturing areas in the target area, such that the second group of image capturing areas in the target area are within the depth of field, and   the capturing includes:   capturing, with the image capturing device, the first group of image capturing areas at the focus distance that is set as the first focusing condition; and   capturing, with the image capturing device, the second group of image capturing areas at the focus distance that is set as the second focusing condition.   
     
     
         5 . The method of  claim 1 , wherein
 when the plurality of image capturing areas in the target area includes a first group of image capturing areas within the depth of field, and a second group of image capturing areas not within the depth of field, when the plurality of image capturing areas in the target area is captured at a focus distance commonly used to capture the first group of image capturing areas and the second group of image capturing areas,   the setting includes:   setting, as a first focusing condition for the image capturing device, a tilt angle that is commonly used for capturing the first group of image capturing areas in the target area, such that the first group of image capturing areas in the target area are within the depth of field; and   setting, as a second focusing condition for the image capturing device, a tilt angle that is commonly used for capturing the second group of image capturing areas in the target area, such that the second group of image capturing areas in the target area are within the depth of field, and   the capturing includes:   capturing, with the image capturing device, the first group of image capturing areas, with the tilt angle that is set as the first focusing condition; and   capturing, with the image capturing device, the second group of image capturing areas, with the tilt angle that is set as the second focusing condition.   
     
     
         6 . A method for processing an image of a sloped subject captured by an image capturing device mounted on a mobile apparatus, the image capturing device, including an imaging lens and an imaging sensor, configured to divide a target area of the sloped subject into a plurality of image capturing areas in a moving direction of the mobile apparatus, and to capture the plurality of image capturing areas while moving with the mobile apparatus,
 the method comprising:   acquiring distance information indicating a distance from a reference position in the mobile apparatus to the subject in a direction perpendicular to the moving direction of the mobile apparatus;   setting, as a focusing condition for the image capturing device, a focus distance that is commonly used to capture the plurality of image capturing areas in the target area, such that the plurality of image capturing areas are within depth of field based on the distance information;   capturing, with the image capturing device, the plurality of image capturing areas in the target area at the focus distance that is set as the focusing condition; and   generating a captured image of the target area by stitching the captured images of the plurality of image capturing areas in the target area, each image capturing area having been captured at the focus distance that is set as the focusing condition, wherein   the focusing condition includes a tilt angle that is commonly used to capture the plurality of image capturing areas such that the plurality of image capturing areas in the target area are within the depth of field based on the distance information, the tilt angle representing an angle between a perpendicular line perpendicular to a sensor surface of the imaging sensor and a central axis of the imaging lens.   
     
     
         7 . The method of  claim 6 , further comprising:
 evaluating the captured image of the target area obtained by stitching the captured images of the plurality of image capturing areas.   
     
     
         8 . The method of  claim 6 , further comprising:
 displaying, on a display, the captured image of the target area obtained by stitching the captured images of the plurality of image capturing areas.   
     
     
         9 . An image capturing system for capturing an image of a sloped subject, comprising:
 an image capturing device mounted on a mobile apparatus, the image capturing device, including an imaging lens and an imaging sensor, configured to divide a target area of the sloped subject into a plurality of image capturing areas in a moving direction of the mobile apparatus, and to capture the plurality of image capturing areas while moving with the mobile apparatus; and   circuitry configured to control image capturing by the image capturing device, wherein   the circuitry is configured to set, as a focusing condition for the image capturing device, a focus distance that is commonly used to capture the plurality of image capturing areas in the target area, such that the plurality of image capturing areas are within depth of field based on the distance information,   the image capturing device captures the plurality of image capturing areas at the focus distance that is set as the focusing condition, and   the focusing condition includes a tilt angle that is commonly used to capture the plurality of image capturing areas such that the plurality of image capturing areas in the target area are within the depth of field based on the distance information, the tilt angle representing an angle between a perpendicular line perpendicular to a sensor surface of the imaging sensor and a central axis of the imaging lens.   
     
     
         10 . The image capturing system of  claim 9 , wherein
 the target area includes a first target area and a second target area, located at different distances in the direction orthogonal to the moving direction of the mobile apparatus,   the image capturing device includes a first image capturing device that captures the first target area, and a second image capturing device that captures the second target area,   the first image capturing device captures a plurality of image capturing areas in the first target area at a focus distance that is set, as a first focusing condition for the first image capturing device, the focus distance of the first focusing condition being commonly used to capture the plurality of image capturing areas in the first target area such that the plurality of image capturing areas in the first target area are within depth of field, and   the second image capturing device captures a plurality of image capturing areas in the second target area at a focus distance that is set, as a second focusing condition for the second image capturing device, the focus distance of the second focusing condition being commonly used to capture the plurality of image capturing areas in the second target area such that the plurality of image capturing areas in the second target area are within depth of field.   
     
     
         11 . The image capturing system of  claim 10 , wherein
 the first target area and the second target area respectively have ranges, such that   the plurality of image capturing areas in the first target area are within the depth of field, when captured at the focus distance that is set as the first focusing condition, and   the plurality of image capturing areas in the second target area are within the dept of field, when captured at the focus distance that is set as the second focusing condition.   
     
     
         12 . An information processing system comprising:
 the image capturing system of  claim 9 ; and   server circuitry configured to generate a captured image of the target area by stitching the captured images of the plurality of image capturing areas in the target area.   
     
     
         13 . The information processing system of  claim 12 , wherein the server circuitry is further configured to evaluate the captured image of the target area obtained by stitching the captured images of the plurality of image capturing areas. 
     
     
         14 . The information processing system of  claim 12 , wherein the server circuitry is further configured to display, on a display, the captured image of the target area obtained by stitching the captured images of the plurality of image capturing areas.